Adaptive observer design for the bottomhole pressure of a managed pressure drilling system

Abstract

In this paper a reduced order observer that adapts to unknown friction and density, and estimates the bottomhole pressure in a well during drilling, is presented. The design is based on a newly developed third order nonlinear model with a nonlinear output equation containing a product between an unknown parameter and unmeasured state. Based on a Lyapunov approach the pressure estimate is shown to converge to the true pressure under reasonable conditions. Application of the observer to real data from a North Sea oil well demonstrates promising behaviour.